Nonholonomic WMR, which has vast applications in transportation, planetary exploration, surveillance, security, human-machine-interfaces etc., provides a unique platform to test the proposed control law.
Hence, the performance of the proposed ASRC is verified using a commercially available 'PIONEER 3' WMR in comparison to Adaptive Sliding Mode Control (ASMC) [1]}-[2]}. The ASMC law is detailed in [1]}-[2]} while it follows the adaptive law (REF ).
